JP2001063538A - Motor vehicle control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately decelerate a vehicle to dislocation of a brake distance by sliding by making a target speed pattern by correcting a reference target speed pattern by a road surface situation after making the reference target speed pattern. SOLUTION: A reference target speed pattern making means 20 inputs a position and a speed to a speed target point outputted from a speed target point calculating means 10 to make a reference target speed pattern by using route data 21. Output from the reference target speed pattern making means 20 is inputted to a target speed pattern correcting means 30 to correct a reference target speed pattern by a road surface situation index being output from a road surface situation detecting means 60. A target speed pattern correcting means 30 corrects a decelerating period short when a friction coefficient is larger than a friction coefficient value outputted from the road surface situation detecting means 60, and corrects the decelerating period in the direction for extending a target speed pattern when the friction coefficient is small. Thus, a vehicle can be accurately decelerated to dislocation of a brake distance by sliding.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic vehicle control apparatus for automatically controlling the speed of a vehicle in, for example, an automobile, a bus, a railway, a new transportation system, and the like. The present invention relates to an automatic vehicle control device capable of achieving high density.

[0002]

2. Description of the Related Art Conventionally, an automatic train control device (ATC: Automatic Train C) has been used as a system for preventing collision between trains, for example, in a railway.
control system) has been widely used.

This automatic train control device controls the speed of the following train so that the following train does not collide with the preceding train (preceding train) which exists as an obstacle in the running direction of the train. It is controlled automatically.

[0004] As one of these methods, a subsequent train is notified of a point where the train can travel, and the subsequent train, for example, as shown in FIG. Using the route data, the vehicle performance of the own train, and the running resistance, create a target deceleration curve on the train so that the train can smoothly stop at a good point where it can run, and follow this target deceleration curve As described above, there is a method of automatically controlling the speed of the own train (for example,
-199271, JP-A-03-295760, JP-A-05-131928).

[0005]

However, in such a method, although a target deceleration curve is created on the train, it is not always possible to decelerate according to the created target deceleration curve. Depending on the friction with the surface, the distance to the stop may be longer depending on the condition of the rail surface, or the braking effect may be better than the assumed deceleration, so it is necessary to stop the train accurately at the target position. There is a problem that it may not be possible.

[0006] The same applies to the case of a new transportation system of an automobile, a guided bus, and a rubber tire, and the stopping distance of the vehicle may fluctuate depending on road conditions such as rain and snow.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an automatic vehicle that can stop a vehicle accurately with respect to a target stop point, thereby allowing the vehicle to travel safely and increasing the vehicle operation density. It is to provide a control device.

[0008]

In order to achieve the above object, a target deceleration curve is created on a vehicle so as not to collide with an obstacle existing in front of the vehicle in the traveling direction. In the automatic vehicle control device for automatically controlling the speed of the vehicle based on the target deceleration curve,
Based on the speed target point calculated by the speed target point calculation means, which calculates the position of the speed target point that is the end point or the speed limit point of the travel allowable range of the vehicle and the speed at that time, The reference target speed pattern creating means for creating a reference target speed pattern of the vehicle reaching the speed target point, the road surface state detecting means for detecting the state of the road or track surface on which the vehicle travels, and the road surface state detecting means A target speed pattern correction unit that corrects the reference target speed pattern created by the reference target speed pattern creation unit based on the road surface condition to create a target speed pattern; a vehicle position detection unit that detects a position of the vehicle; Vehicle speed detecting means for detecting a speed, a vehicle position detected by the vehicle position detecting means, and a vehicle speed detected by the vehicle speed detecting means Speed control means for obtaining a brake output for controlling the speed of the vehicle so as to conform to the target speed pattern created by the target speed pattern correction means, and a brake operation in accordance with the brake output obtained by the speed control means. And brake means for performing the following.

Therefore, in the automatic vehicle control apparatus according to the first aspect of the present invention, after the reference target speed pattern is created, the reference target speed pattern is corrected by the road surface condition (friction coefficient or the like) to create the target speed pattern. In addition, the vehicle can be decelerated more accurately with respect to the deviation of the brake distance due to the sliding.

[0010] In the invention according to claim 2, the road surface condition detecting means for detecting the condition of the road surface or the track surface on which the vehicle runs, and the road condition detected by the road condition detecting device are preset. Deceleration correcting means for correcting the deceleration of the vehicle, speed target point calculating means for calculating the position of the speed target point which is the end point of the vehicle travel permissible range and the speed limit point and the speed at that time, and deceleration correction Target speed pattern creating means for creating a target speed pattern of the vehicle reaching the speed target point calculated by the speed target point calculating means, based on the deceleration corrected by the means, and vehicle position detecting means for detecting the position of the vehicle Vehicle speed detecting means for detecting the speed of the vehicle, a vehicle position detected by the vehicle position detecting means, and a vehicle speed detected by the vehicle speed detecting means. Speed control means for obtaining a brake output for controlling the speed of the vehicle so as to conform to the target speed pattern created by the target speed pattern creation means, and a brake for performing a brake operation in accordance with the brake output obtained by the speed control means Means.

Therefore, in the automatic vehicle control device according to the second aspect of the present invention, a preset vehicle deceleration is corrected according to the road surface condition, and a target speed pattern of the vehicle is created based on the corrected deceleration. Thus, since the deceleration is corrected, the processing can be simplified as compared with the first aspect of the present invention. This is particularly effective when the influence of the slope and curve is small and the deceleration of the vehicle is considered to be constant.

Further, according to the present invention, a reference target speed pattern creation storage means for creating and storing a reference target speed pattern of the vehicle with respect to a point at which the vehicle stops fixedly; A road surface condition detecting means for detecting the situation, and a reference target speed pattern created and stored by the reference target speed pattern creating and storing means on the vehicle, based on the road condition detected by the road surface condition detecting means on the vehicle; Target speed pattern selecting means for selecting a target speed pattern, vehicle position detecting means for detecting the position of the vehicle, vehicle speed detecting means for detecting the speed of the vehicle,
To control the speed of the vehicle along the target speed pattern selected by the target speed pattern selecting means based on the vehicle position detected by the vehicle position detecting means and the vehicle speed detected by the vehicle speed detecting means. And a brake means for performing a brake operation in accordance with the brake output obtained by the speed control means.

Therefore, the automatic vehicle control device according to the third aspect of the present invention has a reference target speed pattern on the vehicle,
By selecting the target speed pattern according to the road surface condition, the target speed pattern creation processing calculation is not performed sequentially on the vehicle, so that the calculation processing load on the vehicle is reduced as compared with the first or second aspect of the present invention. That is, the arithmetic unit of the vehicle can be reduced in size, thereby simplifying the entire apparatus, thereby reducing the cost.

As described above, according to the first to third aspects of the present invention, it is possible to create a more realistic target deceleration curve by detecting the road surface condition and using this as a parameter for creating the target deceleration curve. Becomes

[0015] On the other hand, in the invention of claim 4, the above-mentioned claim 1 is provided.
In the automatic vehicle control device according to the invention, instead of the road surface condition detecting means, a vehicle position speed storing means for storing a vehicle position detected by the vehicle position detecting means and a vehicle speed detected by the vehicle speed detecting means. Target speed pattern storage means for storing the target speed pattern created by the target speed pattern correction means, vehicle position and vehicle speed stored in the vehicle position speed storage means, and target speed stored in the target speed pattern storage means. A speed pattern difference creating unit that compares the pattern and calculates the difference between the two, and a correction coefficient for correcting the target speed pattern in the target speed pattern correcting unit based on the difference calculated by the speed pattern difference creating unit. The correction coefficient creating means to be created and the correction coefficient created by the correction coefficient creating means are learned, and the target speed And a correction coefficient learning means for providing as an input to the pattern correcting means.

Therefore, in the automatic vehicle control device according to the fourth aspect of the present invention, the deviation of the deceleration distance due to the road surface condition is not always determined by the road surface condition detecting means, but is constantly shifted between the target speed pattern and the actual vehicle position / speed. By learning the result and reflecting the result in the creation of the target speed pattern, it is possible to follow short-term situation changes such as weather conditions, and it is not necessary to mount the road surface condition detecting means on the vehicle. As compared with the first aspect, the number of devices mounted on the vehicle can be reduced.

According to the fifth aspect of the present invention, the second aspect of the present invention is provided.
In the automatic vehicle control device according to the invention, instead of the road surface condition detecting means, a vehicle position speed storing means for storing a vehicle position detected by the vehicle position detecting means and a vehicle speed detected by the vehicle speed detecting means. A target speed pattern storage unit that stores the target speed pattern created by the target speed pattern creation unit; and an actual deceleration calculated from the relationship between the vehicle position and the vehicle speed stored in the vehicle position speed storage unit. And deceleration learning means for correcting the deceleration in the deceleration correction means by referring to the target speed pattern stored in the target speed pattern storage means based on the actual deceleration.

Therefore, in the automatic vehicle control device according to the fifth aspect of the present invention, by correcting the deceleration based on the actually measured deceleration, the accuracy of the target speed pattern can be improved as compared with the second aspect of the present invention. Can be improved.

According to a sixth aspect of the present invention, in the automatic vehicle control device of the third aspect of the present invention, the vehicle position detected by the vehicle position detecting means and the vehicle speed detecting means are replaced by the vehicle position detecting means. Vehicle speed storage means for storing the vehicle speed detected by the vehicle, target speed pattern storage means for storing the target speed pattern selected by the target speed pattern selection means, and vehicle position stored in the vehicle position speed storage means A speed pattern difference creating means for comparing the vehicle speed with the target speed pattern stored by the target speed pattern storage means to calculate a difference between the two, and a target based on the difference calculated by the speed pattern difference creating means. Correction coefficient creating means for creating a correction coefficient for correcting the target speed pattern in the speed pattern selecting means; Learning the correction coefficient prepared using several preparing means, and a correction coefficient learning means for providing as an input to the target speed pattern selection means.

Therefore, in the automatic vehicle control device according to the sixth aspect of the present invention, the deviation of the deceleration distance due to the road surface condition is not always determined by the road surface condition detecting means, but is constantly varied between the target speed pattern and the actual vehicle position / speed. By learning the result and reflecting the result in the selection of the target speed pattern, it is possible to follow short-term situation changes such as weather conditions and the like. Compared with the invention of claim 3, the number of devices mounted on the vehicle can be reduced.

As described above, according to the fourth to sixth aspects of the present invention, even when learning, it is possible to create a target deceleration curve in which an error is corrected instead of creating a target deceleration curve in which an error always occurs. Become.

[0022]

DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the present invention, a new road surface condition detecting means for detecting the condition of a road surface or a track surface on which a vehicle travels is provided. It is something to consider.

When it is difficult to detect the road condition by the road condition detecting means, and when it is not practical to install a large number of road condition detecting means along the road, a target deceleration curve and a target deceleration curve are used. The difference from the actual deceleration is learned.

Thus, by detecting the road surface condition and using it as a parameter for creating a target deceleration curve, it is possible to create a more realistic target deceleration curve.

Further, even when learning, it is possible to create a target deceleration curve in which the error is corrected, instead of creating a target deceleration curve in which an error always occurs.

Hereinafter, embodiments of the present invention based on the above concept will be described in detail with reference to the drawings.

(First Embodiment: Corresponding to Claim 1) FIG. 1 is a functional block diagram showing a configuration example of an automatic vehicle control device according to this embodiment.

That is, as shown in FIG. 1, the automatic vehicle control device according to the present embodiment includes a speed target point calculating means 10;
It comprises a reference target speed pattern creating means 20, a road surface condition detecting means 60, a target speed pattern correcting means 30, a vehicle position detecting means 70, a vehicle speed detecting means 80, a speed controlling means 40, and a braking means 50. are doing.

The speed target point calculating means 10 calculates the position of the speed target point, which is the end point of the vehicle travel allowable range and the speed limit point, and the speed at that time.

The reference target speed pattern creating means 20 creates a reference target speed pattern of the vehicle reaching this speed target point based on the speed target point calculated by the speed target point calculating means 10 and the route data 21.

The road surface condition detecting means 60 detects the condition of the road surface or the track surface on which the vehicle runs.

The target speed pattern correcting means 30 calculates the target speed pattern on the basis of the road condition detected by the road condition detecting means 60.
The reference target speed pattern created by the reference target speed pattern creation means 20 is corrected to create a target speed pattern.

The vehicle position detecting means 70 detects the position of the vehicle.

The vehicle speed detecting means 80 detects the speed of the vehicle.

The speed control means 40 includes a vehicle position detecting means 7
0 and the vehicle speed detecting means 80
A brake output for controlling the speed of the vehicle so as to follow the target speed pattern created by the target speed pattern correcting means 30 is obtained based on the vehicle speed detected by the above.

The brake means 50 performs a brake operation in accordance with the brake output obtained by the speed control means 40.

Next, the operation of the thus configured automatic vehicle control apparatus of the present embodiment will be described.

In FIG. 1, the reference target speed pattern creating means 20 inputs the position of the speed target point which is the end point of the travel permissible range and the speed limit point output from the speed target point calculating means 10 and the speed at that time. Route data 2 such as slope
1 is used to create a reference target speed pattern.

The output from the reference target speed pattern creation means 20 is input to the target speed pattern correction means 30, and the reference target speed pattern is corrected by the road surface condition index output from the road surface condition detection device 60.

The output from the target speed pattern correction means 30 is input to the speed control means 40, and the vehicle position detection means 7
0 and the vehicle speed detecting means 80
A brake output for controlling the speed of the vehicle so as to follow the target speed pattern is output to the brake means 50 using the output of the vehicle and the vehicle speed.

Next, such an operation will be described more specifically with reference to FIGS. 7 and 8 by taking an example in which automatic train control is performed.

The speed target point calculating means 10 sets the constantly changing tail end of the train, a point just before the turnout, and a stop point of the station as a speed target point.

In this case, the speed is set to 0 km / h at the tail end or stop point of the train.

In the reference target speed pattern creating means 20,
As shown in FIG. 7, the target speed is calculated in such a manner that the target speed is reversely drawn from the target speed point toward the near side as shown in FIG.

That is, assuming that the speed at the speed target point is V0, the target speed on the near side is V0 toward the near side.
1, V2, V3,... Vn = Vn-1 + b · t where b is the deceleration and is calculated by the following equation.

B = (Fb + R) / m Fb: braking force [N] R: running resistance [N] m: vehicle mass [kg] The braking force varies depending on the vehicle.
It can be given by the following equation.

The running resistance covers air resistance, friction resistance, gradient resistance, and curve resistance.

The route data such as the gradient is stored in the route data 21.

Further, t is a time interval for calculating the target speed pattern, and is, for example, 1 second.

The road surface condition detecting means 60 obtains, for example, a measured value of a friction coefficient as the road surface condition.

Therefore, in the target speed pattern correcting means 30, as shown in FIG. 8, when the friction coefficient is large, the deceleration period is short and the friction coefficient is small, based on the friction coefficient value output from the road surface condition detecting means 60. If it is smaller, the correction is made in the direction of extending the target speed pattern.

Here, extending the target speed pattern means
If the target speed pattern is stored in the form of (position p, speed V), the value may be converted to (p-p1, v) by using the distance p1 for extending the value.

The speed control means 40 calculates the target speed with respect to the vehicle position from time to time from the corrected target speed pattern by linear interpolation, and detects and verifies the vehicle speed to obtain the actual speed. The brake operation amount of the vehicle is calculated in such a manner that the brake is released when the actual speed is lower than the target speed, and the brake is increased when the actual speed is higher than the target speed.

In the brake means 50, a brake is applied in a form in which the amount of brake operation is added to the current brake.

The vehicle speed detecting means 80 calculates the speed by counting the number of revolutions of the axle, for example.

The vehicle position detecting means 70 calculates the vehicle position by integrating the calculated speeds.

As described above, in the automatic vehicle control apparatus according to the present embodiment, after the reference target speed pattern is created, the reference target speed pattern is corrected by the road surface condition to create the target speed pattern. The vehicle can be more accurately decelerated with respect to the deviation of the braking distance due to the sliding.

As a result, the vehicle can be stopped accurately with respect to the target stop point, so that the vehicle can run safely and the vehicle operation can be performed at a higher density.

(Second Embodiment: Corresponding to Claim 2) FIG. 2 is a functional block diagram showing a configuration example of an automatic vehicle control device according to this embodiment, and the same elements as those in FIG. Are shown.

This embodiment is effective when the influence of the gradient and the curve is small and the deceleration of the vehicle is considered to be constant.

That is, as shown in FIG. 2, the automatic vehicle control apparatus according to the present embodiment comprises a road surface condition detecting means 60, a deceleration correcting means 90, a speed target point calculating means 10, and a target speed pattern creating means. 100 and vehicle position detecting means 70
, The vehicle speed detecting means 80, the speed controlling means 40, and the braking means 50.

The road surface condition detecting means 60 detects the condition of the road surface or the track surface on which the vehicle runs.

The deceleration correcting means 90 corrects the preset vehicle deceleration 91 based on the road surface condition detected by the road surface condition detecting means 60.

The speed target point calculating means 10 calculates the position of the speed target point, which is the end point of the travel allowable range of the vehicle and the speed limit point, and the speed at that time.

The target speed pattern creating means 100 creates a target speed pattern of the vehicle reaching the target speed point calculated by the target speed point calculating means 10 based on the deceleration corrected by the deceleration correcting means 90.

The vehicle position detecting means 70 detects the position of the vehicle.

The vehicle speed detecting means 80 detects the speed of the vehicle.

The speed control means 40 includes a vehicle position detecting means 7
0 and the vehicle speed detecting means 80
A brake output for controlling the speed of the vehicle so as to follow the target speed pattern created by the target speed pattern creating means 100 is obtained based on the vehicle speed detected by (1).

The brake means 50 performs a brake operation in accordance with the brake output obtained by the speed control means 40.

Next, the operation of the thus configured automatic vehicle control apparatus according to the present embodiment will be described.

In FIG. 2, the deceleration correcting means 90
The deceleration 91 is stored, and is corrected based on the value of the friction coefficient detected by the road surface condition detecting means 60.

That is, in the deceleration correcting means 90, if the friction coefficient is sufficiently large, the deceleration is set to the stored value, and if it is 80%, the deceleration is set to a value of 90%. The deceleration is changed according to the measured value.

The target speed pattern generating means 100 uses the deceleration obtained by the deceleration correcting means 90 for a target speed pattern with respect to the speed target point position / speed output from the speed target point calculating means 10. Created.

The speed control means 40 controls the speed of the vehicle according to the target speed pattern calculated by the target speed pattern creation means 100 in the same manner as in the first embodiment.

As described above, in the automatic vehicle control apparatus according to the present embodiment, a preset vehicle deceleration is corrected according to the road surface condition, and a target speed pattern of the vehicle is created based on the corrected deceleration. In this case, the deceleration is corrected, so that the processing can be simplified as compared with the case of the first embodiment.

Further, in this embodiment, it is assumed that the influence of the gradient and the curve is small. However, if these effects are considered, the above deceleration is considered in the form of deceleration + alpha. In addition, the change due to the gradient and the curve can be considered.

This is particularly effective when the influence of the gradient and the curve is small and the deceleration of the vehicle is considered to be constant.

(Third Embodiment: Corresponding to Claim 3) FIG. 3 is a functional block diagram showing an example of the configuration of an automatic vehicle control device according to the present embodiment. Are shown.

The present embodiment aims at reducing the processing load on the vehicle. For example, when stopping only at a fixed place such as a station, instead of having the route data on the vehicle and calculating the target speed pattern on the vehicle, the target speed pattern calculated for the fixed stop point in advance is stored. It is a way to keep.

That is, as shown in FIG. 3, the automatic vehicle control apparatus according to the present embodiment includes a reference target speed pattern creation storage unit 110, a road surface condition detection unit 60, a target speed pattern selection unit 120, a vehicle position It comprises a detecting means 70, a vehicle speed detecting means 80, a speed controlling means 40, and a braking means 50.

Reference target speed pattern creation storage means 110
Creates and stores a reference target speed pattern 113 of the vehicle with respect to a fixed stop point (fixed stop point) 112 based on the route data 111.

The road surface condition detecting means 60 detects the condition of the road surface or the track surface on which the vehicle runs.

The target speed pattern selection means 120 has a reference target speed pattern 113 created and stored by the reference target speed pattern creation storage means 110 on the vehicle, and the road surface detected by the road surface condition detection means 60 on the vehicle. The target speed pattern is selected based on the situation.

The vehicle position detecting means 70 detects the position of the vehicle.

The vehicle speed detecting means 80 detects the speed of the vehicle.

The speed control means 40 includes a vehicle position detecting means 7
0 and the vehicle speed detecting means 80
A brake output for controlling the speed of the vehicle so as to follow the target speed pattern selected by the target speed pattern selecting means 120 is obtained based on the vehicle speed detected by the above.

The brake means 50 performs a brake operation in accordance with the brake output obtained by the speed control means 40.

Next, the operation of the thus configured automatic vehicle control apparatus of the present embodiment will be described.

In FIG. 3, a fixed stop point 112 is stored in a reference target speed pattern creation / storage means 110, and a reference target speed pattern is stored in the fixed stop point 112 using route data 111 such as a gradient. A plurality of types are created and stored as a database as the reference target speed pattern 113.

On the vehicle, the reference target speed pattern 1
13 is carried and stored in the form of, for example, a data card.

On the vehicle, target speed pattern selecting means 1
20, an appropriate one of the plural kinds of target speed patterns created and stored in advance is selected based on the measured value of the friction coefficient output from the road surface condition detecting means 60 every moment.

That is, in the reference target speed pattern creation storage means 110, for example, three kinds of reference target speed patterns when the friction coefficient is large, normal, and small, are:
It has been created in advance. Then, according to the measured value of the friction coefficient detected on the vehicle, the target speed pattern is selected in the above three ways.

The speed control means 40 controls the speed of the vehicle according to the target speed pattern selected by the target speed pattern selection means 120 in the same manner as in the first embodiment.

As described above, the automatic vehicle control device according to the present embodiment has the reference target speed pattern on the vehicle.
Since the target speed pattern is selected according to the road surface condition, the target speed pattern creation processing calculation is not performed sequentially on the vehicle, so that the target speed pattern is selected on the vehicle as compared with the above-described first or second embodiment. In other words, it is possible to reduce the arithmetic processing load, that is, to reduce the size of the arithmetic unit of the vehicle and to simplify the entire apparatus, thereby achieving cost reduction.

(Fourth Embodiment: Corresponding to Claim 4) FIG. 4 is a functional block diagram showing a configuration example of an automatic vehicle control device according to this embodiment, and the same elements as those in FIG. The description thereof is omitted, and only different parts will be described here.

The present embodiment is an example of a configuration in which the above-described road surface condition detecting means is not used. It learns the instantaneous deviation from the vehicle position / speed and reflects the result in the creation of the target speed pattern.

That is, as shown in FIG. 4, the automatic vehicle control apparatus according to the present embodiment omits the road surface condition detecting means 60 in FIG. Target speed pattern storage means 130;
The configuration includes a speed pattern difference creating unit 150, a correction coefficient creating unit 160, and a correction coefficient learning unit 170.

[0098] The vehicle position / speed storage means 140 stores the vehicle position detected by the vehicle position detection means 70 and the vehicle speed detected by the vehicle speed detection means 80.

The target speed pattern storage means 130 stores the target speed pattern created by the target speed pattern correction means 30.

The speed pattern difference creating means 150 compares the vehicle position and the vehicle speed stored in the vehicle position / speed storage means 140 with the target speed pattern stored in the target speed pattern storage means 130 and determines the difference between the two. calculate.

The correction coefficient creating means 160 calculates the difference based on the difference calculated by the speed pattern difference creating means 150.
A correction coefficient for correcting the target speed pattern in the target speed pattern correction means 30 is created.

The correction coefficient learning means 170 learns the correction coefficient created by the correction coefficient creation means 160 and gives it to the target speed pattern correction means 30 as an input.

Next, the operation of the thus configured automatic vehicle control apparatus according to the present embodiment will be described.

In FIG. 4, the reference target speed pattern creating means 20 uses the speed / position of the speed target point output from the speed target point calculation means 10 and the route data 21 such as the gradient to obtain the reference target speed pattern. Is generated and output to the target speed pattern correction means 30.

The target speed pattern correction means 30 receives the correction coefficient output from the correction coefficient learning means 170 and creates a target speed pattern.

The speed control means 40 controls the speed of the vehicle according to the target speed pattern output from the target speed pattern correction means 30 in the same manner as in the first embodiment.

On the other hand, the vehicle position / speed storage means 140
Based on the outputs from the vehicle position detecting means 70 and the vehicle speed detecting means 80, the actual measured speed position database 141
Is created.

The target speed pattern storage means 130 stores the target speed pattern created by the target speed pattern correction means 30, and creates a target speed pattern database 131.

The speed pattern difference creating means 150 calculates the difference in speed at the same position in the measured speed position database 141 and the target speed pattern database 131, and the correction coefficient creating means 160 creates a correction coefficient for calculating the target speed pattern. You.

Further, the correction coefficient learning means 170 learns the correction coefficient and uses it for correcting the target speed pattern at another time.

Here, in this embodiment, since the detection accuracy of the vehicle position becomes a problem, the vehicle position detecting means 70 is a non-contact type position detecting method using no axle.

Further, the speed pattern difference creating means 150 calculates the difference between the actually measured speed position and the target speed pattern, using the position at which the braking is started as a base point. Then, in the section where the brake is applied, a difference in speed is obtained, for example, at a pitch of 100 m, and a correction coefficient is calculated by the following equation.

Correction coefficient = Σ ｛(Vacti−Vref)
i) / Vrefi / n where Vacti is the measured speed at the i-th step, Vref
i represents the target speed at the i-th step. n is the number of steps in a certain brake section.

The correction coefficient learning means 170 calculates a moving average of the past several correction coefficients, and changes the correction coefficients every moment.

As described above, in the automatic vehicle control apparatus according to the present embodiment, the deviation of the deceleration distance due to the road surface condition is determined not by the road surface condition detecting means but by the instantaneous time between the target speed pattern and the actual vehicle position / speed. Since the deviation is learned and the result is reflected in the creation of the target speed pattern, it is possible to follow short-term changes in conditions such as weather conditions, and it is necessary to mount road surface condition detection means on the vehicle. Therefore, compared to the case of the above-described first embodiment, the number of devices mounted on the vehicle can be reduced.

(Fifth Embodiment: Corresponding to Claim 5) FIG. 5 is a functional block diagram showing a configuration example of an automatic vehicle control device according to this embodiment, and the same elements as those in FIG. The description thereof is omitted, and only different parts will be described here.

This embodiment is an example of a configuration in the case where the above-described road surface condition detecting means is not used. It learns the instantaneous deviation from the vehicle position / speed and reflects the result in the creation of the target speed pattern.

That is, as shown in FIG. 5, the automatic vehicle control device according to the present embodiment omits the road surface condition detecting means 60 in FIG. Target speed pattern storage means 130;
The deceleration learning means 180 is provided.

The vehicle position / speed storage means 140 stores the vehicle position detected by the vehicle position detection means 70 and the vehicle speed detected by the vehicle speed detection means 80.

The target speed pattern storage means 130 stores the target speed pattern created by the target speed pattern creation means 100.

The deceleration learning means 180 calculates the actual deceleration from the relationship between the vehicle position and the vehicle speed stored in the vehicle position / speed storage means 140, performs learning, and sets a target deceleration based on the actual deceleration. Speed pattern storage means 130
Target speed pattern database 131 stored in the
, The deceleration in the deceleration correcting means 90 is corrected.

Next, the operation of the thus configured automatic vehicle control apparatus according to the present embodiment will be described.

In FIG. 5, the measured speed position database 141 stored by the vehicle position speed storage unit 140 and the target speed pattern database 131 stored by the target speed pattern storage unit 130 are input to the deceleration learning unit 180. Is done.

The deceleration learning means 180 calculates a deceleration error from the difference between the speed patterns, and exponentially smoothes the deceleration to obtain the deceleration of the vehicle.

In this case, since the actually measured vehicle speed and position are likely to contain noise, those having a deviation of ± 50% with reference to the deceleration of the target speed pattern database 131 are exponentially smoothed. do not use.

The output from the deceleration learning means 180 is applied as an input to the deceleration correction means 90.

As described above, in the automatic vehicle control device according to the present embodiment, the deceleration is corrected based on the actually measured deceleration, and therefore, compared to the case of the above-described second embodiment. Thus, the accuracy of the target speed pattern can be improved.

(Sixth Embodiment: Corresponding to Claim 6) FIG. 6 is a functional block diagram showing a configuration example of an automatic vehicle control device according to the present embodiment, and the same elements as those in FIG. The description thereof is omitted, and only different parts will be described here.

This embodiment is an example of a configuration in the case where the above-mentioned road surface condition detecting means is not used. It learns the instantaneous deviation from the vehicle position / speed and reflects the result in the creation of the target speed pattern.

That is, as shown in FIG. 6, the automatic vehicle control apparatus according to the present embodiment omits the road surface condition detecting means 60 in FIG. Target speed pattern storage means 130;
The configuration includes a speed pattern difference creating unit 150, a correction coefficient creating unit 160, and a correction coefficient learning unit 170.

The vehicle position speed storage means 140 stores the vehicle position detected by the vehicle position detection means 70 and the vehicle speed detected by the vehicle speed detection means 80.

The target speed pattern storage means 130 stores the target speed pattern selected by the target speed pattern selection means 120.

The speed pattern difference creation means 150 compares the vehicle position and the vehicle speed stored in the vehicle position / speed storage means 140 with the target speed pattern stored in the target speed pattern storage means 130 and determines the difference between the two. calculate.

The correction coefficient creating means 160 calculates the difference based on the difference calculated by the speed pattern difference creating means 150.
A correction coefficient for correcting the target speed pattern in the target speed pattern selection means 120 is created.

The correction coefficient learning means 170 learns the correction coefficient created by the correction coefficient creation means 160 and gives it to the target speed pattern selection means 120 as an input.

Next, the operation of the thus configured automatic vehicle control apparatus of the present embodiment will be described.

In FIG. 6, the reference target speed pattern creation storage means 110 creates a plurality of types of reference target speed patterns for the fixed stop point 112 using the route data 111 such as the gradient, and sets the reference target speed pattern 113 as the reference target speed pattern 113. Created as a database. The reference target speed pattern 113 is carried and stored on the vehicle, for example, in the form of a data card or the like.

On the vehicle, target speed pattern selecting means 1
20, an appropriate one of the plural kinds of target speed patterns created and stored in advance is selected based on the measured value of the friction coefficient output from the road surface condition detecting means 60 every moment.

In the speed control means 40, the speed of the vehicle is controlled in accordance with the target speed pattern selected by the target speed pattern selection means 120 in the same manner as in the third embodiment.

On the other hand, the vehicle position / speed storage means 140
Based on the outputs from the vehicle position detecting means 70 and the vehicle speed detecting means 80, the actual measured speed position database 141
Is created.

In the target speed pattern storage means 130, the target speed pattern selected by the target speed pattern selection means 120 is stored, and a target speed pattern database 131 is created.

The speed pattern difference creating means 150 calculates the speed difference at the same position in the measured speed position database 141 and the target speed pattern database 131, and the correction coefficient creating means 160 creates a correction coefficient for calculating the target speed pattern. You.

Further, the correction coefficient learning means 170 learns the correction coefficient and uses it for correcting the target speed pattern at another time.

In the present embodiment, since the detection accuracy of the vehicle position becomes a problem, the vehicle position detection means 70 is a non-contact type position detection system using no axle.

Further, the speed pattern difference creating means 150 calculates the difference between the actually measured speed position and the target speed pattern, using the position at which the braking is started as a base point. Then, in the section where the brake is applied, a difference in speed is obtained, for example, at a pitch of 100 m, and a correction coefficient is calculated by the following equation.

Correction coefficient = Σ ｛(Vacti−Vref)
i) / Vrefi / n where Vacti is the measured speed at the i-th step, Vref
i represents the target speed at the i-th step. n is the number of steps in a certain brake section.

The correction coefficient learning means 170 calculates a moving average of the past several correction coefficients, and changes the correction coefficients every moment.

As described above, in the automatic vehicle control device according to the present embodiment, the deviation of the deceleration distance due to the road surface condition is determined not by the road surface condition detecting means but by the instantaneous time between the target speed pattern and the actual vehicle position / speed. Since the deviation is learned and the result is reflected in the selection of the target speed pattern, it is possible to follow short-term changes in conditions such as weather conditions, and it is necessary to mount road surface condition detecting means on the vehicle. Therefore, the number of devices mounted on the vehicle can be reduced as compared with the case of the third embodiment.

[0149]

As described above, according to the automatic vehicle control device of the present invention, the target deceleration curve can be created with high accuracy, so that the vehicle can be accurately stopped at the target stop point. Becomes possible. .

As a result, the vehicle can run safely, and stable vehicle control can be realized, so that the operation intervals of the vehicle can be shortened, and the vehicle operation can be performed at higher density.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a first embodiment of an automatic vehicle control device according to the present invention.

FIG. 2 is a functional block diagram showing a second embodiment of the automatic vehicle control device according to the present invention.

FIG. 3 is a functional block diagram showing a third embodiment of the automatic vehicle control device according to the present invention.

FIG. 4 is a functional block diagram showing a fourth embodiment of the automatic vehicle control device according to the present invention.

FIG. 5 is a functional block diagram showing a fifth embodiment of the automatic vehicle control device according to the present invention.

FIG. 6 is a functional block diagram showing a sixth embodiment of the automatic vehicle control device according to the present invention.

FIG. 7 is an exemplary view for explaining a method of creating a target speed pattern in the automatic vehicle control device according to the first embodiment.

FIG. 8 is a view for explaining a method of correcting a target speed pattern in the automatic vehicle control device according to the first embodiment.

FIG. 9 is a diagram illustrating an example of a conventional automatic vehicle control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Speed target point calculation means 20 ... Reference target speed pattern creation means 30 ... Target speed pattern correction means 40 ... Speed control means 50 ... Brake means 60 ... Road surface condition detection means 70 ... Vehicle position detection means 80 ... Vehicle speed detection means 90 ... deceleration correction means 100 ... target speed pattern creation 110 ... reference target speed pattern creation storage means 120 ... target speed pattern selection means 130 ... target speed pattern storage means 140 ... vehicle position speed storage means 150 ... speed pattern difference creation means 160 ... Correction coefficient creation means 170: correction coefficient learning means 180: deceleration learning means.

Continued on the front page F term (reference) 3D044 AA45 AC26 AC56 AD21 AE14 AE16 3D046 BB28 EE01 HH20 HH21 HH22 HH45 HH49 KK12 5H180 AA01 EE02 LL01 LL09

Claims (6)

[Claims] 1. A target deceleration curve is created on the vehicle so as not to collide with an obstacle existing in front of the traveling direction of the vehicle, and the speed of the vehicle is automatically determined based on the target deceleration curve. In the automatic vehicle control device for controlling, the speed target point calculation means for calculating the position of the speed target point which is the end point of the travel allowable range of the vehicle and the speed limit point and the speed at that time, and the speed target point calculation means Based on the calculated speed target point, a reference target speed pattern creating means for creating a reference target speed pattern of the vehicle reaching the speed target point, and a road surface condition for detecting a condition of a road surface or a track surface on which the vehicle runs. Detecting means, and supplementing the reference target speed pattern created by the reference target speed pattern creating means based on the road condition detected by the road condition detecting means. Target speed pattern correction means for creating a target speed pattern, vehicle position detection means for detecting the position of the vehicle, vehicle speed detection means for detecting the speed of the vehicle, and a vehicle detected by the vehicle position detection means A speed for obtaining a brake output for controlling the speed of the vehicle so as to follow a target speed pattern created by the target speed pattern correcting means based on a position and a vehicle speed detected by the vehicle speed detecting means. An automatic vehicle control device comprising: a control unit; and a brake unit that performs a brake operation according to a brake output obtained by the speed control unit. 2. A target deceleration curve is created on the vehicle so as not to collide with an obstacle existing in front of the traveling direction of the vehicle, and the speed of the vehicle is automatically determined based on the target deceleration curve. In an automatic vehicle control device for controlling, a road surface condition detecting means for detecting a condition of a road surface or a track surface on which the vehicle runs, and the vehicle which is set in advance based on a road condition detected by the road condition detecting device Deceleration correcting means for correcting the deceleration of the vehicle; speed target point calculating means for calculating the position of a speed target point which is an end point or a speed limit point of the travel allowable range of the vehicle and the speed at that time; A target speed pattern for creating a target speed pattern of the vehicle reaching the speed target point calculated by the speed target point calculation means based on the deceleration corrected by the correction means; Creating means, vehicle position detecting means for detecting the position of the vehicle, vehicle speed detecting means for detecting the speed of the vehicle, vehicle position detected by the vehicle position detecting means, detected by the vehicle speed detecting means Speed control means for obtaining a brake output for controlling the speed of the vehicle so as to conform to the target speed pattern created by the target speed pattern creation means, based on the obtained vehicle speed and the speed control means. And a brake means for performing a brake operation in accordance with the brake output. 3. A target deceleration curve is created on the vehicle so as not to collide with an obstacle existing in front of the traveling direction of the vehicle, and the speed of the vehicle is automatically determined based on the target deceleration curve. In an automatic vehicle control device for controlling, a reference target speed pattern creation storage unit that creates and stores a reference target speed pattern of the vehicle with respect to a fixed stop point, and stores a state of a road surface or a track surface on which the vehicle travels. A road surface condition detecting means for detecting, a reference target speed pattern created and stored by the reference target speed pattern creating and storing means on a vehicle, based on a road surface condition detected by the road surface condition detecting means on the vehicle; Target speed pattern selecting means for selecting a target speed pattern; vehicle position detecting means for detecting the position of the vehicle; vehicle for detecting the speed of the vehicle Based on a vehicle position detected by the vehicle position detecting unit and a vehicle speed detected by the vehicle speed detecting unit, so as to follow a target speed pattern selected by the target speed pattern selecting unit. An automatic vehicle, comprising: speed control means for obtaining a brake output for controlling the speed of the vehicle; and brake means for performing a brake operation in accordance with the brake output obtained by the speed control means. Control device. 4. The automatic vehicle control device according to claim 1, wherein the vehicle position detected by the vehicle position detection unit and the vehicle detected by the vehicle speed detection unit are replaced with the road surface state detection unit. Vehicle position / speed storage means for storing speed and target speed pattern storage means for storing a target speed pattern created by the target speed pattern correction means; vehicle position and vehicle speed stored in the vehicle position / speed storage means A speed pattern difference creating unit that compares the target speed pattern stored by the target speed pattern storage unit and calculates a difference between the two; and the target based on the difference calculated by the speed pattern difference creating unit. Correction coefficient creating means for creating a correction coefficient for correcting the target speed pattern in the speed pattern correcting means, An automatic vehicle control device comprising: a correction coefficient learning unit that learns a correction coefficient created by the correction coefficient creation unit and supplies the correction coefficient as an input to the target speed pattern correction unit. 5. The automatic vehicle control device according to claim 2, wherein the vehicle position detected by the vehicle position detection unit and the vehicle detected by the vehicle speed detection unit are used instead of the road surface condition detection unit. Vehicle position / speed storage means for storing speed and target speed pattern storage means for storing the target speed pattern created by the target speed pattern creation means; vehicle position and vehicle speed stored in the vehicle position / speed storage means The actual deceleration is calculated from the relationship, learning is performed, and based on the actual deceleration, the deceleration in the deceleration correction unit is referred to by referring to the target speed pattern stored by the target speed pattern storage unit. An automatic vehicle control device, comprising: deceleration learning means for correcting the following. 6. The automatic vehicle control device according to claim 3, wherein the vehicle position detected by the vehicle position detecting means and the vehicle detected by the vehicle speed detecting means are replaced with the road surface condition detecting means. Vehicle position / speed storage means for storing speed; target speed pattern storage means for storing a target speed pattern selected by the target speed pattern selection means; vehicle position and vehicle speed stored in the vehicle position / speed storage means A speed pattern difference creating unit that compares the target speed pattern stored by the target speed pattern storage unit and calculates a difference between the two; and the target based on the difference calculated by the speed pattern difference creating unit. Correction coefficient creating means for creating a correction coefficient for correcting the target speed pattern in the speed pattern selecting means, An automatic vehicle control device comprising: a correction coefficient learning unit that learns a correction coefficient created by the correction coefficient creation unit and supplies the correction coefficient as an input to the target speed pattern selection unit.